According to some embodiments, a method includes: receiving an endpoint impedance matrix representing a desired stiffness or damping at the robot endpoint; reflecting the endpoint impedance matrix to an equivalent joint-space matrix associated with one or more of the robot joints, the equivalent joint-space matrix having a nullspace corresponding to near-zero-valued eigenvalues; generating a nullspace-filled impedance matrix from the equivalent joint-space matrix based in part on replacing the near-zero-valued eigenvalues with selected finite positive real values; generating a robot control law using the nullspace-filled impedance matrix; and using the robot control law to control the robot.

The invention relates to a method of control ling an actuator (1) of an articulated segment (5) comprising the steps of estimating an inertia J of the segment; estimating or measuring a speed of displacement (I) of the segment; synthesizing a control law of type (II) generating a control torque for the segment on the basis of these estimates or measurements and meeting a performance objective pertaining to the loading sensitivity function: (III) K being the desired stiffness, and c a desired damping rate, a a mathematical artifact, (IV), where G(s) is the transfer function (V) for going between the speed (I) (linear or angular) of the segment and an external force F experienced by the segment; and controlling the actuator of the articulated segment according to the control law thus synthesized.

[00001]

According to some embodiments, a method includes: receiving an endpoint impedance matrix representing a desired stiffness or damping at the robot endpoint; reflecting the endpoint impedance matrix to an equivalent joint-space matrix associated with one or more of the robot joints, the equivalent joint-space matrix having a nullspace corresponding to near-zero-valued eigenvalues; generating a nullspace-filled impedance matrix from the equivalent joint-space matrix based in part on replacing the near-zero-valued eigenvalues with selected finite positive real values; generating a robot control law using the nullspace-filled impedance matrix; and using the robot control law to control the robot.

Described herein are concepts, techniques, and structures for robot control using compositional impedance programming. In one embodiment, a robot control system comprises a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters and an impedance controller.

Described herein are concepts, techniques, and structures for robot control using compositional impedance programming. In one embodiment, a robot control system comprises a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters and an impedance controller.

An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.

A robot includes an arm and a control unit configured to control a motion of the arm using compliant motion control. The control unit changes a parameter value of the compliant motion control depending on a relative position and orientation of a first object moving along with the arm and a second object.

The invention relates to a method and a system for controlling a robot, which has at least one redundant degree of freedom. The method according to the invention prevents the robot from colliding with its surrounding environment and/or from getting into an inconvenient position as a result of its redundancy, and does so without causing any disadvantageous displacement of the tool center point.

A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value computation step; a change computation step of computing a difference between the joint stiffness command value and a value and performing a computation of subtracting a value from the joint stiffness command value; an iterative step of iterating the computations of the torque command value computation step and the change computation step until the difference converges to a value equal to or smaller than a predetermined value; and a driving force command value computation step to compute each of the driving force command values when the difference is converged to a value equal to or smaller than the predetermined value.

The invention concerns a method of programming an industrial robot, exhibiting the steps of selecting a program command, the assigned rigidity parameter of which is to be verified, changed and/or saved in the program mode; moving the manipulator arm into a test pose, in which the industrial robot is configured and/or arranged to manually touch and/or move the manipulator arm; and the automatic actuation of the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command. The invention further concerns an industrial robot, exhibiting a control device designed and/or configured to execute such a method.